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Wales will play in the World Cup for the first time since 1949.
Robert Page's squad and staff arrived in Doha in the early hours of Wednesday morning after flying from Wales the day before.
Group B includes England and Iran as well as the United States.
"We're proud and happy that we're here now so we can focus on that first game and not worry about anything else," said Page.
The players have been great. We've been together for a few days now and we're happy to be here.
The Wales rugby union team were given a warm send-off on Tuesday, first at their hotel in the Vale of Glamorgan, where fellow residents were among the well-wishers, and then at the city stadium where thousands watched an open training session.
There were more fans at the airport to cheer on the players and coaches before they boarded the plane.
The training ground of Al-Sadd will be used by Japan during the World Cup.
Wales have qualified for the previous two European Championships, reaching the semi-finals in 2016 and the second round last year, but this is their first appearance at the World Cup finals.
Jimmy Murphy's side featuring the likes of John Charles and Ivor Allchurch were beaten by Brazil in the quarter-finals, with a teenager scoring the only goal.
The hopes of the Welsh will be carried by some of their Euro 2016 heroes such as Joe Allen and the captain of the Welsh team.
It will be a special occasion, something the whole nation is proud of, according to Bale.
Everyone has a different opinion of success. Some people just want to qualify for the tournament.
We're going in with the mindset of taking each game as it comes, we're going to give 100% and whatever comes of that it's been a successful journey for us.
We will be doing everything we can to get out of the group and go as far as we can, but we just need to do what we do best and give our all for the shirt.
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